1. FUNCTIONS AND CONFIGURATION
1.3 Driver standard specifications
1.3 Driver standard specifications (1) 200V class
Driver LECSB□-□
Item
LECSB□-S5 LECSB□-S7 LECSB-□-S8
Output Rated voltage 3-phase 170VAC
Rated current [A] 1.1 1.5 2.8
Main circuit power supply
Voltage, frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz
Rated current [A] 0.9 1.5 2.6
Permissible voltage fluctuation 3-phase or 1-phase
170 to 253VAC
Permissible frequency fluctuation Within 5
Power supply capacity Refer to section 11.2
Inrush current Refer to section 11.5
Control circuit power supply
Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz
Rated current [A] 0.2
Permissible voltage
fluctuation 1-phase 170 to 253VAC
Permissible
Inrush current Refer to section 11.5
Interface power supply
Voltage 24VDC 10
Power supply
capacity (Note 1) 0.3A
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in
Protective functions
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed protection, excessive error protection
Position control mode
Max. input pulse frequency 1Mpps (for differential receiver), 200kpps (for open collector) Command pulse multiplying
factor Electronic gear A:1 to 1048576, B:1 to 1048576, 1/10 A/B 2000 In-position range setting 0 to 10000 pulse (command pulse unit)
Error excessive 3 revolutions
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque)
Speed control mode
Speed control range Analog speed command 1: 2000, internal speed command 1: 5000 Analog speed command
input 0 to 10VDC / Rated speed
Speed fluctuation ratio
0.01 or less (load fluctuation 0 to 100 ) 0 (power fluctuation 10 )
0.2 or less (ambient temperature 25 10 (59 to 95 ))
Torque limit Set by parameter setting or external analog input (0 to 10VDC/maximum torque) Torque control
mode
Analog torque command
input 0 to 8VDC / Maximum torque (input impedance 10 to 12k ) Speed limit Set by parameter setting or external analog input (0 to 10VDC/Rated speed)
Compliance to standards CE (LVD: IEC/EN 50178, EMC: IEC/EN 61800-3)
UL (UL 508C)
Structure Natural-cooling, open
Environmental conditions Ambient temperature
In operation
90 RH or less (non-condensing) In storage
Ambient Indoors (no direct sunlight),
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
Vibration 5.9m/s2 or less at 10 to 55Hz (directions of X, Y and Z axes)
Mass [kg] 0.8 0.8 1.0
[lb] 1.76 1.76 2.21
Note 1. 0.3A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
2. When closely mounting the driver of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 or at 75% or smaller effective load ratio.
3. When a UL/C-UL-compliant servo motor is used in combination, the value is 2.9A.
1 - 5 1.4 Function list
The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description (Note)
Control mode Reference
Position control mode This servo is used as position control servo. P
Section 3.2.1 Section 3.6.1 Section 4.2
Speed control mode This servo is used as speed control servo. S
Section 3.2.2 Section 3.6.2 Section 4.3 Torque control mode This servo is used as torque control servo. T
Section 3.2.3 Section 3.6.3 Section 4.4 Position/speed control
change mode
Using input device, control can be switched between position
control and speed control. P/S Section 3.6.4
Speed/torque control change mode
Using input device, control can be switched between speed
control and torque control. S/T Section 3.6.5
Torque/position control change mode
Using input device, control can be switched between torque
control and position control. T/P Section 3.6.6
High-resolution encoder High-resolution encoder of 262144 pulses/rev is used as a
servo motor encoder. P, S, T
Absolute position detection system
Merely setting a home position once makes home position
return unnecessary at every power-on. P Chapter 14
Gain changing function You can switch between gains during rotation and gains during
stop or use an input device to change gains during operation. P, S Section 8.6 Advanced vibration
suppression control
This function suppresses vibration at the arm end or residual
vibration. P Section 8.4
Adaptive filter Driver detects mechanical resonance and sets filter
characteristics automatically to suppress mechanical vibration. P, S, T Section 8.2 Low-pass filter Suppresses high-frequency resonance which occurs as servo
system response is increased. P, S, T Section 8.5
Machine analyzer function
Analyzes the frequency characteristic of the mechanical system by simply connecting a personal computer installed Set up software(MR Configurator2TM) with a driver.
Set up software(MR Configurator2TM) is necessary for this function.
P
Machine simulation
Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results.
Set up software(MR Configurator2TM) is necessary for this function.
P
Gain search function
Personal computer changes gains automatically and searches for overshoot-free gains in a short time.
Set up software(MR Configurator2TM) is necessary for this function.
P
Robust disturbance compensation
This function provides better disturbance response in case of low response level due to high load inertia moment ratio for the roll send axes.
Set up software(MR Configurator2TM) is necessary for this function.
P, S, T
Advanced Gain search
Advanced Gain search automatically searches for the optimum parameter for settle time to be short.
The gain can be adjusted by setting sequentially in accordance with wizard screens.
Set up software(MR Configurator2TM) is necessary for this function.
P
Slight vibration suppression control
Suppresses vibration of 1 pulse produced at a servo motor
stop. P Parameters
No.PB24
1 - 6
Function Description (Note)
Control mode Reference
Electronic gear Input pulses can be multiplied by 1/50 to 50. P Parameters
No.PA06, PA07 Auto tuning Automatically adjusts the gain to optimum value if load applied
to the servo motor shaft varies. P, S Chapter 7
Position smoothing Speed can be increased smoothly in response to input pulse. P Parameter No.PB03 S-pattern acceleration/
deceleration time constant Speed can be increased and decreased smoothly. S, T Parameter No.PC03 Return converter
Used when the regenerative option cannot provide enough regenerative power.
Can be used with the MR-J3-500A MR-J3-700A.
P, S, T Section 12.4
Alarm history clear Alarm history is cleared. P, S, T Parameter No.PC18
Restart after instantaneous power failure
If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be restarted by merely switching on the start signal.
S Parameter No.PC22
Command pulse selection Command pulse train form can be selected from among three
different types. P Section 5.1.12
Input signal selection (Device settings)
Forward rotation start, reverse rotation start, servo-on (SON) and other input device can be assigned to certain pins of the CN1 connectors.
P, S, T
Parameters No.PD03 to PD08, PD10 to PD12 Output signal selection
(Device settings)
Trouble (ALM), dynamic brake interlock (MBR) and other output device can be assigned to certain pins of the CN1 connectors.
P, S, T
Parameters No.PD13 to PD16, PD18
Torque limit Servo motor torque can be limited to any value. P, S Section 3.6.1 (5) Section 5.1.11
Speed limit Servo motor speed can be limited to any value. T
Section 3.6.3 (3) Parameter No.PC05 to PC11 Status display Servo status is shown on the 5-digit, 7-segment LED display P, S, T Section 6.3 External I/O signal display ON/OFF statuses of external I/O signals are shown on the
display. P, S, T Section 6.7
Output signal (DO) forced output
Output signal can be forced on/off independently of the servo status.
Use this function for output signal wiring check, etc.
P, S, T Section 6.8
Automatic VC offset
Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command (VC) or analog speed limit (VLA) of 0V.
S, T Section 6.4
Test operation mode
JOG operation, positioning operation, motor-less operation, DO forced output and program operation.
However, Set up software(MR Configurator2TM) is necessary for positioning operation and program operation.
P, S, T Section 6.9
Analog monitor output Servo status is output in terms of voltage in real time. P, S, T Parameter No.PC14 Set up software
(MR Configurator2TM)
Using a personal computer, parameter setting, test operation,
status display, etc. can be performed. P, S, T Section 12.8 Alarm code output If an alarm has occurred, the corresponding alarm number is
output in 3-bit code. P, S, T Section 9.1
Note. P: Position control mode, S: Speed control mode, T: Torque control mode
P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode
1 - 7
1.4.1 Applicable control mode for each actuator.
The following control mode can be selected for applicable actuators.
Please refer 「3. SIGNALS AND WIRING」and「5. PARAMETERS」about wiring and parameter setting.
Table. Applicable control mode.
Driver type Actuator type
Control mode Note 1)（Selected by parameter number PA1.）
Position control Speed control Torque control
LECSB
（Absolute）
LEY ○ ○Note 2) ○Note 3)
LJ1 ○ × ×
LG1 ○ × ×
LTF ○ × ×
LEF ○ × ×
LEJ ○ × ×
Command method [Pulse train] [ON/OFF Signal] [ON/OFF Signal]
Operation method Positioning operation Setting speed operation Setting torque operation
Note 1. The control change mode cannot be used.
Note 2. Make the moving range limitation by external sensor etc to avoid actuator hitting to the work piece or stroke end.
Note 3. When using the pushing operation, the following parameter should be set.
If not, it will cause malfunction.
LECSB ： The value of the parameter value [PC13] “Analog torque maximum output command”
should be 30% or less.
（30% = Maximum pushing force of the product.）
（○：Applicable，×：Inapplicable）
1 - 8 1.5 Model code definition
(1) Model
(2) Option Model
a) Motor cable / Lock cable / Encoder cable
Incremental
ＬＥＣＳ
Motor type
－
Ａ S１
Driver Type
１
AC200～230V 50,60Hz AC100～120V 50,60Hz ２
１
Power supply B
Pulse input type
（Incremental encoder）
A
AC Servo motor（S1,S2）
400W
Pulse input type
（Absolute encoder）
AC Servo motor（S3）
AC Servo motor（S4）
Type Capacity Encoder
AC Servo motor（S5,S6）
AC Servo motor（S7）
AC Servo motor（S8）
50,100W 100W 200W
Absolute
ＬＥ
Cable Content
AC Servo motor S
Encoder cable E
Lock cable B
Motor cable M
－
－ C
Motor Type
S M
Opposite axis side B
Axis side A
Connector Direction
Robot cable R
Standard cable S
Cable Type
５ A
S
1 - 9 b） I/O Connector
*LE-CSNB is 10150-3000PE(Connector)/10350-52F0-008（Shell kit）of Sumitomo 3M Limited or equivalent goods.
Applicable wire size: AWG24~30 c）Regenerative options
*MR-RB□ of Mitsubishi Electric Corporation.
d）Setup software (MR Configurator2TM)
* SW1DNC-MRC2-□ of Mitsubishi Electric Corporation.
Refer to the website of Mitsubishi Electric Corporation for the information of the operating environment and upgrading.
Prepare USB cable should be ordered separately.
e）USB cable(3m)
* MR-J3USBCBL3M of Mitsubishi Electric Corporation.
f）Battery
* MR-J3BAT of Mitsubishi Electric Corporation.
Battery for replacement.
Absolute position data is maintained by installing the battery to the driver.
ＬＥＣ-MR-Ｊ3ＢＡＴ ＬＥＣ-MR-Ｊ3ＵＳＢ
ＬＥ-CＳＮB
Driver Type
LECSB B
ＬＥC-MR-RB-032
Regenerative option Type
Permissible regenerative power 100W 12
Permissible regenerative power 30W 032
ＬＥＣ-MRC2□
Languag
English version E
Japanese version NIL
Chinese version C
1 - 10 g） I/O Connector
*LEC-CSNB-1(Connector/ Shell kit) is 10150-3000PE (Connector)/ 10350-52F0-008(Shell kit) of Sumitomo 3M Limited or equivalent goods.
Applicable wire size: AWG24
1.6 Combination with servo motor
The following table lists combinations of driver and servo motors. The same combinations apply to the models with a lock and the models with a reduction gear.
Driver
Servo motors LE-□-□
LECSB□-S5 S5,S6
LECSB□-S7 S7
LECSB□-S8 S8
ＬＥC-CＳＮB-1
Driver Type
LECSA A
Cable length(L)[m]
1.5
1
1 - 11 1.7 Structure
1.7.1 Parts identification (1) LECSB□-□
MODE UP DOWN SET
Main circuit power supply connector (CNP1) Connect the input power supply.
USB communication connector (CN5) Connect the personal computer.
Analog monitor connector (CN6) Outputs the analog monitor.
RS-422 communication connector (CN3) Connect the personal computer.
Control circuit connector (CNP2)
Connect the control circuit power supply/regenerative option.
I/O signal connector (CN1) Used to connect digital I/O signals.
Charge lamp
Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.
Encoder connector (CN2)
Used to connect the servo motor encoder.
Battery holder
Contains the battery for absolute position data backup.
Battery connector (CN4)
Used to connect the battery for absolute position data backup.
Servo motor power connector (CNP3) Connect the servo motor.
Section 3.1
The 5-digit, seven-segment LED shows the servo status and alarm number.
Used to set data.
Used to change the display or data in each mode.
Used to change the mode.
MODE UP DOWN SET
Operation section
Used to perform status display, diagnostic, alarm and parameter setting operations.
Chapter 6
Chapter 6 Detailed explanation
1 - 12
1.8 Configuration including auxiliary equipment POINT
Equipment other than the driver and servo motor are optional or recommended products.
(1) LECSB□-□
(a) For 3-phase or 1-phase 200 to 230VAC
(Note 3) Power supply
Line noise filter (FR-BSF01) (NFB) or fuse
CN5
Power factor improving DC reactor
Junction terminal block CN6
(Note 2) MR Configurator
Personal computer
Note 1. The battery is used for the absolute position detection system in the position control mode.
3.For 1-phase 200 to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply specification.
Set up software
（MR Configurator2TM）
LEC-MR-J3BAT Driver
(Mitsubishi Electric Corporation)
1 - 13
(b) For 1-phase 100 to 120VAC
(Note 3) Power supply
Line noise filter (FR-BSF01)
Magnetic contactor (MC) No-fuse breaker (NFB) or fuse
CN5
CN3
Regenerative option
P C
L11
L21
Analog monitor
CN1
CN2
CN4
Junction terminal block CN6
U VW Servo amplifier
Servo motor (Note 1)
Battery MR-J3BAT L1
L2
MR Configurator
Personal computer Power factor
improving AC reactor (FR-BAL)
(Note 2) R S
Note 1. The battery is used for the absolute position detection system in the position control mode.
2. The power factor improving DC reactor cannot be used.
3. Refer to section 1.3 for the power supply specification.
Set up software
（MR Configurator2TM）
LEC-MR-J3BAT Driver
(Mitsubishi Electric Corporation)
2 - 1
2. INSTALLATION ...2 2.1 Installation direction and clearances...3 2.2 Keep out foreign materials ...4 2.3 Cable stress ...5 2.4 Inspection items ...5 2.5 Parts having service lives ...6
2 - 2
2. INSTALLATION
WARNING
To prevent electric shock, ground each equipment securely.CAUTION
Stacking in excess of the limited number of product packages is not allowed.
Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For details of the environmental condition, refer to section 1.3.)
Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the driver.
Do not block the intake and exhaust areas of the driver and servo motor which has a cooling fan. Doing so may cause faults.
Do not subject the driver to drop impact or shock loads as they are precision equipment.
Do not install or operate a faulty driver.
When the product has been stored for an extended period of time, contact your local sales office.
When handling the driver, be careful about the edged parts such as the corners of the each unit.
The driver must be installed in the metal cabinet (control box).
2 - 3 2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, a fault may occur.
Leave specified clearances between the driver and control box inside walls or other equipment.
(1) LECSB□-□
(a) Installation of one driver
Control box
Top
Bottom Control box
40mm or more Servo amplifier
40mm or more 10mm or
more
10mm or more
Wiring allowance 80mm Driver
2 - 4 (b) Installation of two or more drivers
POINT
Close mounting is available for the driver of under 3.5kW for 200V class and 400W for 100V class.
Leave a large clearance between the top of the driver and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the drivers closely, leave a clearance of 1mm between the adjacent drivers in consideration of mounting tolerances.
In this case, make circumference temperature into 0 to 45 , or use it at 75 or a smaller effective load ratio.
40mm or more Control box
100mm or more
40mm or more 10mm or more Control box
Leaving clearance Mounting closely
1mm 1mm 100mm or more
30mm or more
30mm or more
30mm or more
30mm or more
Top
Bottom
(2) Others
When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the driver is not affected.
Install the driver on a perpendicular wall in the correct vertical direction.
2.2 Keep out foreign materials
(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the driver.
(2) Prevent oil, water, metallic dust, etc. from entering the driver through openings in the control box or a cooling fan installed on the ceiling.
(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.
2 - 5 2.3 Cable stress
(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress are not applied to the cable connection.
(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables.
(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or stamped by workers or vehicles.
(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large as possible. Refer to section 11.4 for the flexing life.
2.4 Inspection items
WARNING
Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, always confirm from the front of the driver whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock.
POINT
Do not test the driver with a megger (measure insulation resistance), or it may become faulty.
Do not disassemble and/or repair the equipment on customer side.
It is recommended to make the following checks periodically.
(1) Check for loose terminal block screws. Retighten any loose screws.
(2) Check the cables and the wires for scratches and cracks. Perform periodic inspection according to operating conditions.
2 - 6 2.5 Parts having service lives
The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions.
Part name Life guideline
Smoothing capacitor 10 years
Relay Number of power-on and number of emergency stop times : 100,000 times
Cooling fan 10,000 to 30,000hours (2 to 3 years) Driver
Absolute position battery Refer to section 14.2
(1) Smoothing capacitor
Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment (40 (104 ) surrounding air temperature or less).
(2) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity.
(3) Driver cooling fan
The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.
3 - 1
3. SIGNALS AND WIRING ... 2 3.1 Input power supply circuit ... 3 3.2 I/O signal connection example ... 6 3.2.1 Position control mode ... 6 3.2.2 Speed control mode ... 8 3.2.3 Torque control mode ... 10 3.3 Explanation of power supply system ... 12 3.3.1 Signal explanations ... 12 3.3.2 Power-on sequence ... 13 3.3.3 CNP1, CNP2, CNP3 wiring method ... 15 3.4 Connectors and signal arrangements ... 21 3.5 Signal explanations ... 25 3.6 Detailed description of the signals ... 35 3.6.1 Position control mode ... 35 3.6.2 Speed control mode ... 39 3.6.3 Torque control mode ... 41 3.6.4 Position/speed control change mode ... 44 3.6.5 Speed/torque control change mode ... 46 3.6.6 Torque/position control change mode ... 48 3.7 Alarm occurrence timing chart ... 49 3.8 Interfaces ... 50 3.8.1 Internal connection diagram ... 50
3. SIGNALS AND WIRING ... 2 3.1 Input power supply circuit ... 3 3.2 I/O signal connection example ... 6 3.2.1 Position control mode ... 6 3.2.2 Speed control mode ... 8 3.2.3 Torque control mode ... 10 3.3 Explanation of power supply system ... 12 3.3.1 Signal explanations ... 12 3.3.2 Power-on sequence ... 13 3.3.3 CNP1, CNP2, CNP3 wiring method ... 15 3.4 Connectors and signal arrangements ... 21 3.5 Signal explanations ... 25 3.6 Detailed description of the signals ... 35 3.6.1 Position control mode ... 35 3.6.2 Speed control mode ... 39 3.6.3 Torque control mode ... 41 3.6.4 Position/speed control change mode ... 44 3.6.5 Speed/torque control change mode ... 46 3.6.6 Torque/position control change mode ... 48 3.7 Alarm occurrence timing chart ... 49 3.8 Interfaces ... 50 3.8.1 Internal connection diagram ... 50